- Gazebo urdf done with ros control.
- Sensors used are rplidar and imu.
- Urdf with four wheel omni drive.
- Odom and Tf is published.
- Gmapping is done.
- 3 custom gazebo worlds for mapping.
- Navigation stack implemented need to tune the parameters for omniwheel drive
- Jetson nano
- wifi and bluetooth module for jetson
- USB 2.0 to TTL UART serial converter Module
- RMCS 2303 motor driver
- RHINO 12V DC 60RPM 40KGCM IG32 HEAVY DUTY PLANETARY GEARED MOTOR
- 16000mAh 6S 25C/50C (22.2V) Lithium Polymer Battery
- DC Buck Converter
- Rp lidar A2M8
- Joystick
- USB setup rules for UART.
- startup file.
- motor communication code using modbus.
- Joy node and Twist to motor.
- Odom and tf publish using wheel encoders.
- Gmapping is done and code will be uploaded soon for gmapping and odom.
| S.NO | VID | PID | NAME |
|:----:|:----:|:----:|:-------------------:|
| 1 | 0001 | 0001 | quicksilver wheel 1 |
| 2 | 0002 | 0002 | quicksilver wheel 2 |
| 3 | 0003 | 0003 | quicksilver wheel 3 |
| 4 | 0004 | 0004 | quicksilver wheel 4 |